version: 66.06
glider: 139
mission: 7
dive: 544
start: 6 17 110 15 25 13
data:
$ID,139
$MISSION,7
$DIVE,544
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,550
$D_NO_BLEED,90
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,187
$T_MISSION,200
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,80
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,51995
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.25
$TGT_DEFAULT_LON,-158
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2141611
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2714
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,1875
$C_ROLL_CLIMB,2010
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,3050
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,-6.8056469e+38
$FG_AHR_24V,-6.8056469e+38
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.231706
$PRESSURE_SLOPE,0.000116328
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043401681
$SEABIRD_T_H,0.00063043466
$SEABIRD_T_I,2.4021314e-05
$SEABIRD_T_J,2.5358199e-06
$SEABIRD_C_G,-9.8272314
$SEABIRD_C_H,1.0932546
$SEABIRD_C_I,-0.0012359815
$SEABIRD_C_J,0.00017717193
$GPS1,151458,2107.729,-15754.507,67,3.2,86,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-70.7
$GPS2,152422,2107.790,-15754.559,16,5.1,35,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.182,-0.024
$KALMAN_X,-306610.4,-138.9,658.5,306730.4,-2702.0
$KALMAN_Y,19355.7,-98.0,14.3,-17639.5,390.5
$MHEAD_RNG_PITCHd_Wd,87.7,20444,-20.8,-8.021
$D_GRID,450
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,68,0.00,0.00,-50.83,0.000,2,0.000,0.000,425,1859,3166,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.6,-7.0,10,92,10.60,0.00,-4.00,0.000,6,0.133,0.000,2403,1860,3370,0,0,0,0,0,0
$GC,289,-1.21,-77.9,46.3,-16.6,41,291,0.22,0.00,0.00,0.000,6,0.099,0.000,2448,1860,3372,0,0,0,0,0,0
$GC,544,-1.21,-77.9,79.0,-10.9,65,548,0.00,2.38,0.00,0.000,4,0.000,0.043,2447,461,3373,0,0,0,0,0,0
$GC,601,-1.14,-77.9,86.9,-13.3,70,606,0.00,2.33,0.00,0.000,6,0.000,0.019,2447,1915,3373,0,0,0,0,0,0
$GC,863,-1.14,-77.9,109.3,-5.8,95,867,0.00,2.50,0.00,0.000,4,0.000,0.041,2447,460,3374,0,0,0,0,0,0
$GC,906,-1.14,-77.9,112.4,-8.1,99,910,0.00,2.25,0.00,0.000,6,0.000,0.019,2448,1879,3374,0,0,0,0,0,0
$GC,1168,-1.18,-77.9,134.8,-9.7,123,1172,0.00,2.42,0.00,0.000,4,0.000,0.042,2447,466,3375,0,0,0,0,0,0
$GC,1216,-1.18,-77.9,140.1,-11.0,127,1222,0.00,2.25,0.00,0.000,6,0.000,0.019,2447,1877,3376,0,0,0,0,0,0
$GC,1480,-1.26,-77.9,166.3,-7.5,152,1484,0.00,2.42,0.00,0.000,4,0.000,0.042,2447,463,3376,0,0,0,0,0,0
$GC,1508,-1.29,-77.9,168.8,-8.8,154,1513,0.00,2.25,0.00,0.000,6,0.000,0.020,2447,1878,3376,0,0,0,0,0,0
$GC,1773,-1.37,-77.9,188.8,-8.1,179,1778,0.15,2.42,0.00,0.000,4,0.055,0.043,2398,463,3376,0,0,0,0,0,0
$GC,1844,-1.29,-77.9,197.8,-12.8,186,1849,0.17,2.25,0.00,0.000,6,0.091,0.020,2434,1876,3376,0,0,0,0,0,0
$GC,2116,-1.36,-77.9,222.4,-8.2,200,2120,0.00,2.40,0.00,0.000,4,0.000,0.043,2435,467,3376,0,0,0,0,0,0
$GC,2157,-1.42,-77.9,226.1,-8.3,201,2163,0.15,2.22,0.00,0.000,6,0.055,0.021,2386,1875,3376,0,0,0,0,0,0
$GC,2473,-1.42,-77.9,247.6,-5.9,217,2477,0.00,2.42,0.00,0.000,4,0.000,0.044,2387,461,3376,0,0,0,0,0,0
$GC,2501,-1.35,-77.9,249.5,-7.0,218,2506,0.17,2.25,0.00,0.000,6,0.089,0.021,2421,1875,3377,0,0,0,0,0,0
$GC,2828,-1.42,-77.9,272.7,-8.8,234,2832,0.00,2.42,0.00,0.000,4,0.000,0.045,2423,467,3376,0,0,0,0,0,0
$GC,2888,-1.46,-77.9,279.0,-9.5,236,2893,0.12,2.25,0.00,0.000,6,0.063,0.022,2382,1874,3375,0,0,0,0,0,0
$GC,3222,-1.46,-77.9,316.0,-11.2,249,3226,0.00,2.42,0.00,0.000,4,0.000,0.047,2383,470,3374,0,0,0,0,0,0
$GC,3255,-1.40,-77.9,319.8,-11.7,249,3260,0.12,2.25,0.00,0.000,6,0.101,0.023,2408,1873,3374,0,0,0,0,0,0
$GC,3592,-1.44,-77.9,347.3,-7.3,258,3596,0.00,2.45,0.00,0.000,4,0.000,0.048,2408,463,3372,0,0,0,0,0,0
$GC,3625,-1.44,-77.9,350.2,-8.5,258,3629,0.00,2.28,0.00,0.000,6,0.000,0.025,2408,1873,3372,0,0,0,0,0,0
$GC,3956,-1.50,-77.9,378.5,-8.7,266,3960,0.00,2.30,0.00,0.000,4,0.000,0.032,2406,3267,3370,0,0,0,0,0,0
$GC,3970,-1.57,-77.9,379.8,-8.6,266,3978,0.12,2.35,0.00,0.000,6,0.067,0.033,2366,1867,3370,0,0,0,0,0,0
$GC,4288,-1.54,-77.9,412.5,-10.6,274,4292,0.00,2.42,0.00,0.000,4,0.000,0.051,2366,471,3368,0,0,0,0,0,0
$GC,4348,-1.46,-77.9,419.7,-11.7,275,4353,0.15,2.30,0.00,0.000,6,0.096,0.026,2401,1880,3367,0,0,0,0,0,0
$STATE,4660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4660,begin apogee
$GC,4667,-0.31,0.0,451.2,9.9,283,4735,1.12,0.00,64.53,0.871,6,0.073,0.000,2643,2031,3050,0,0,0,0,0,0
$STATE,4736,end apogee,CONTROL_FINISHED_OK
$STATE,4736,begin climb
$GC,4738,1.40,77.9,452.9,0.0,284,4813,1.62,2.42,64.88,0.848,4,0.031,0.041,3019,3381,2731,0,0,0,0,0,0
$GC,5076,1.20,102.4,444.1,6.3,291,5105,0.25,2.38,21.20,0.821,6,0.110,0.035,2978,2003,2632,0,0,0,0,0,0
$GC,5429,1.11,126.7,420.9,6.3,300,5457,0.12,2.42,21.25,0.822,4,0.124,0.038,2954,3384,2532,0,0,0,0,0,0
$GC,5696,1.10,150.8,403.3,6.4,305,5724,0.00,2.38,21.58,0.815,6,0.000,0.036,2957,2012,2435,0,0,0,0,0,0
$GC,6036,1.08,172.1,381.5,6.6,314,6060,0.00,2.55,19.10,0.802,4,0.000,0.052,2957,604,2347,0,0,0,0,0,0
$GC,6123,1.01,172.1,373.0,10.5,315,6129,0.12,2.33,0.00,0.000,6,0.124,0.029,2935,1992,2343,0,0,0,0,0,0
$GC,6454,1.04,172.1,343.8,8.8,324,6458,0.00,2.47,0.00,0.000,4,0.000,0.051,2935,598,2342,0,0,0,0,0,0
$GC,6473,1.04,172.1,341.9,9.5,324,6477,0.00,2.38,0.00,0.000,6,0.000,0.030,2935,2016,2340,0,0,0,0,0,0
$GC,6818,1.08,173.1,313.2,8.0,333,6822,0.00,2.50,0.00,0.000,4,0.000,0.052,2935,605,2340,0,0,0,0,0,0
$GC,6864,1.08,173.1,308.8,9.7,334,6868,0.00,2.35,0.00,0.000,6,0.000,0.030,2936,2016,2338,0,0,0,0,0,0
$GC,7190,1.16,193.9,284.1,6.6,347,7215,0.15,2.58,19.05,0.758,4,0.070,0.051,2972,597,2259,0,0,0,0,0,0
$GC,7255,1.08,193.9,278.8,9.3,349,7261,0.12,2.40,0.00,0.000,6,0.123,0.030,2951,2011,2255,0,0,0,0,0,0
$GC,7571,1.16,227.1,257.0,5.7,365,7603,0.00,0.00,30.48,0.752,6,0.000,0.000,2951,2015,2124,0,0,0,0,0,0
$GC,7900,1.23,227.1,231.2,9.4,381,7905,0.15,2.50,0.00,0.000,4,0.068,0.049,2989,604,2119,0,0,0,0,0,0
$GC,8164,1.17,231.3,206.5,7.7,392,8168,0.00,2.35,0.00,0.000,6,0.000,0.027,2989,2021,2114,0,0,0,0,0,0
$GC,8494,1.17,231.3,181.4,8.8,418,8499,0.00,2.50,0.00,0.000,4,0.000,0.048,2989,595,2114,0,0,0,0,0,0
$GC,8632,1.11,231.3,166.7,10.1,432,8637,0.17,2.35,0.00,0.000,6,0.109,0.025,2957,2015,2113,0,0,0,0,0,0
$GC,8893,1.22,253.1,146.5,6.5,456,8922,0.10,2.55,22.55,0.640,4,0.084,0.046,2986,604,2017,0,0,0,0,0,0
$GC,8984,1.22,253.1,138.1,10.0,466,8988,0.00,2.33,0.00,0.000,6,0.000,0.024,2986,2018,2013,0,0,0,0,0,0
$GC,9246,1.29,253.1,114.8,10.1,490,9250,0.00,2.45,0.00,0.000,4,0.000,0.045,2986,601,2013,0,0,0,0,0,0
$GC,9495,1.29,253.1,89.6,8.9,516,9500,0.00,2.30,0.00,0.000,6,0.000,0.022,2986,2020,2011,0,0,0,0,0,0
$GC,9758,1.39,272.2,71.7,6.7,541,9785,0.15,2.50,17.55,0.556,4,0.060,0.041,3030,598,1939,0,0,0,0,0,0
$GC,9844,1.34,272.2,62.7,11.6,550,9849,0.12,2.33,0.00,0.000,6,0.107,0.021,3006,2021,1936,0,0,0,0,0,0
$GC,10105,1.39,272.2,38.6,9.4,574,10109,0.00,2.45,0.00,0.000,4,0.000,0.041,3006,598,1936,0,0,0,0,0,0
$GC,10129,1.39,272.2,36.0,11.1,576,10133,0.00,2.28,0.00,0.000,6,0.000,0.021,3006,2016,1935,0,0,0,0,0,0
$GC,10401,1.44,272.2,9.4,10.7,618,10407,0.10,2.45,0.00,0.000,4,0.075,0.042,3039,601,1935,0,0,0,0,0,0
$STATE,10457,end climb,SURFACE_DEPTH_REACHED
$STATE,10457,begin surface coast
$FINISH,0.4,1.023372
$STATE,10492,end surface coast,CONTROL_FINISHED_OK
$STATE,10492,begin surface
$SM_CCo,10515,14.82,0.486,0,0,1826,300.00
$SM_GC,1.52,0.00,0.00,14.82,0.000,0.000,0.486,426,1899,1826,-10.52,0.65,300.00
$IRIDIUM_FIX,2101.76,-15756.04,110999,151532
$TT8_MAMPS,0.029146
$HUMID,51.41
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.4,48.243
$10V_AH,10.0,44.698
$FG_AHR_24Vo,-680564693277057719623408366969033850880.000
$FG_AHR_10Vo,-680564693277057719623408366969033850880.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,27.575,118.950,302.150,14.825,0.000,50.478,74.485,230.382,4.500,0.000,36.283,1252.193,7292.307,389.635,1562.183,595.825,33.382,1232.025,0.000,1503.776,0.000,29.273,0.000
$DEVICE_MAMPS,132.691,54.457,870.545,485.511,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,428.912,419.652,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,31725,637
$CAP_FILE_SIZE,124687,0
$CFSIZE,260165632,226820096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170610,182247,2107.841,-15754.657,67,2.3,86,9.8